Are some extrinsics wrong？

Reproduce the projection with the dataset path droid_raw/1.0.1/AUTOLab/success/2023-07-08/Sat_Jul__8_08:57:28_2023 and the Rerun Python example, then compare the reported transforms with droid-dataset issue #64. Done means the extrinsic or mirroring problem is identified and the 2D annotations match the 3D arm view, with the relevant correction documented.

Great work！
But when projecting the end effector onto a 2D image, I consistently observe some bias in certain examples. I suspect that the camera's extrinsic parameters are incorrect.
First, I read the camera intrinsics from the SVO file and the cartesian_position and camera extrinsics from trajectory.h5. I am certain that the issue is not caused by an inverse matrix. I used the following code to annotate the video:

#droid_raw/1.0.1/AUTOLab/success/2023-07-08/Sat_Jul__8_08:57:28_2023
...
extrinsic=np.eye(4)
extrinsic[:3,:3]=Rotation.from_euler("xyz", extrinsic1[3:]).as_matrix()
extrinsic[:3, 3] = extrinsic1[:3]
extrinsic=np.linalg.inv(extrinsic)

camera_cor=np.einsum("ij,nj->ni",extrinsic,traj)[:,:3]
image_cor=np.einsum("ij,nj->ni",intrinsic1,camera_cor)
image_cor=image_cor[:,:2]/image_cor[:,2:]

cap=...
width=int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
height=int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
out=FFmpegVideoWriter("test.mp4",30,width,height)
idx=0
while cap.isOpened():
    ret,frame=cap.read()
    if not ret:
        break
    frame=frame[:,:width,:]
    frame=cv2.circle(frame,(int(image_cor[idx,0]),int(image_cor[idx,1])),5,(0,0,255),-1)
    out.write(frame)
    idx+=1
out.release()
cap.release()

The resulting video shows that the annotated points are synchronized with the robotic arm's motion, but there is some spatial bias.

https://github.com/user-attachments/assets/b012b1be-b958-4510-83c9-f21b398a0b7d

Furthermore, I annotated the orientation of the cartesian_position coordinates (droid_raw/1.0.1/AUTOLab/success/2023-07-08/Sat_Jul__8_08:57:28_2023):

https://github.com/user-attachments/assets/19b5c1e3-6f52-4ba0-a023-ab360945e463

https://github.com/user-attachments/assets/8c0893ae-25e9-4075-8688-7df16bd072a4

I also visualized the dataset (droid_raw/1.0.1/AUTOLab/success/2023-07-08/Sat_Jul__8_08:57:28_2023) using rerun-io/python-example-droid-dataset: Visualizing the DROID dataset using Rerun (github.com). When I hover the mouse over the 3D robotic arm, the corresponding point in the 2D camera view is clearly incorrect.

It's a mirror issue https://github.com/droid-dataset/droid/issues/64